Modern Robotics, Chapter 2.2: Degrees of Freedom of a Robot

This video describes common robot joints and derives Grubler's formula for calculating the degrees of freedom of a mechanism.

This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.

[insertusername]

This video is so much better than the previous one

[diegorivadeneira]

Excellent work!!! Thank you so much for share your knowledge!

[Gotenham]

you absolute legend, great explanation thanks

[TatharNuar]

4:18 How do you identify dependent constraints though?

[beamngaze]

Hello, I don't understand, can you help me? Consider a mechanism consisting of three spatial rigid bodies (including ground, N=4) and four joints: one revolute, one prismatic, one universal, and one spherical. According to Grubler's formula, how many degrees of freedom does the mechanism have?

[vtube]

with the last example(stewart platform) you said the body has 3 joints with 6 degrees of freedom, which is true for the sphercal joint of each leg. But then again, each leg has a prismatic joint(with 1 dof). therefore i think each leg has a total of 7 degrees of freedom instead of 6 as you said. therefore we have Fi=42 instead of 36. i stand to be corrected

[pushprajbhardwaj]

In 4 bar robot, how N = 4 came ?

It should be 5 .

I don't understand,
Please someone make it clear.

[cjaybersabal]

how could we get the joint constraints?

[haidershaker]

I need report for 5 Degrees of freedom

[whatruwaiting]

are not you annoying with writing transverse